Does this work for Sim3 pose graphs?

MIT-SPARK / Kimera-RPGO

Robust Pose Graph Optimization

BSD 2-Clause "Simplified" License

474 stars 133 forks source link

Does this work for Sim3 pose graphs? #56

Open NikolausDemmel opened 4 years ago

NikolausDemmel commented 4 years ago

Hi, thanks for the project!

In the code is see specializations for what looks like SE2 and SE3 pose graphs, but can this also work for Sim3?

LimHyungTae commented 3 months ago

Hello, I'm not a main maintainer, but I don't think it's a bit hard to apply the PCM in Sim3, because PCM assumes the transformation of loops follows rigid body transformation with some errors.